Minor scales
Natural minor
The natural minor scale follows W H W W H W W. It is the major scale starting from its sixth note, so A minor uses the same notes as C major.
Relative keys
The relative minor starts on the 6th degree of the major scale (three semitones below the tonic). The relative major starts three semitones above the minor tonic: D minor ↔ F major.
Harmonic minor
Raises the 7th note by a semitone. This creates a leading tone and a major V chord. A harmonic minor: A B C D E F G♯. It has an augmented second between the 6th and 7th notes.
Melodic minor
To avoid that large step, the ascending melodic minor raises both the 6th and 7th. Descending, classical practice returns to natural minor.
Sound
Minor sounds darker or sadder than major, mainly because of its minor third.